The differential calculus of screws: Theory, geometrical interpretation, and applications

2009 ◽  
Vol 223 (6) ◽  
pp. 1449-1468 ◽  
Author(s):  
J J Cervantes-Sánchez ◽  
J M Rico-Martínez ◽  
G González-Montiel ◽  
E J González-Galván
Keyword(s):  
Differential Calculus ◽  
Kinematic Chain ◽  
Parallel Manipulators ◽  
Higher Order ◽  
Abstract Concepts ◽  
Serial Manipulators ◽  
Kinematic Chains ◽  
Finite Displacements ◽  
Typical Shape ◽  
Derivatives Of

This article presents a novel and original formula for the higher-order time derivatives, and also for the partial derivatives of screws, which are successively computed in terms of Lie products, thus leading to the automation of the differentiation process. Through the process and, due to the pure geometric nature of the derivation approach, an enlightening physical interpretation of several screw derivatives is accomplished. Important applications for the proposed formula include higher-order kinematic analysis of open and closed kinematic chains and also the kinematic synthesis of serial and parallel manipulators. More specifically, the existence of a natural relationship is shown between the differential calculus of screws and the Lie subalgebras associated with the expected finite displacements of the end effector of an open kinematic chain. In this regard, a simple and comprehensible methodology is obtained, which considerably reduces the abstraction level frequently required when one resorts to more abstract concepts, such as Lie groups or Lie subalgebras; thus keeping the required mathematical background to the extent that is strictly necessary for kinematic purposes. Furthermore, by following the approach proposed in this article, the elements of Lie subalgebra arise in a natural way — due to the corresponding changes in screws through time — and they also have the typical shape of the so-called ordered Lie products that characterize those screws that are compatible with the feasible joint displacements of an arbitrary serial manipulator. Finally, several application examples — involving typical, serial manipulators — are presented in order to prove the feasibility and validity of the proposed method.

Dexterous Workspace of n-PRRR Planar Parallel Manipulators

2012 ◽  
Vol 4 (3) ◽  
Author(s):  
André Gallant ◽  
Roger Boudreau ◽  
Marise Gallant
Keyword(s):  
Kinematic Chain ◽  
Parallel Manipulators ◽  
Divergence Theorem ◽  
End Effector ◽  
Kinematic Chains ◽  
Prismatic Joint ◽  
Planar Surfaces ◽  
Revolute Joints ◽  
Gauss Divergence Theorem ◽  
Planar Parallel Manipulators

In this work, a method is presented to geometrically determine the dexterous workspace boundary of kinematically redundant n-PRRR (n-PRRR indicates that the manipulator consists of n serial kinematic chains that connect the base to the end-effector. Each chain is composed of two actuated (therefore underlined) joints and two passive revolute joints. P indicates a prismatic joint while R indicates a revolute joint.) planar parallel manipulators. The dexterous workspace of each nonredundant RRR kinematic chain is first determined using a four-bar mechanism analogy. The effect of the prismatic actuator is then considered to yield the workspace of each PRRR kinematic chain. The intersection of the dexterous workspaces of all the kinematic chains is then obtained to determine the dexterous workspace of the planar n-PRRR manipulator. The Gauss divergence theorem applied to planar surfaces is implemented to compute the total dexterous workspace area. Finally, two examples are shown to demonstrate applications of the method.

Type Synthesis of 3-DOF Translational Parallel Manipulators Based on Screw Theory

2004 ◽  
Vol 126 (1) ◽  
pp. 83-92 ◽  
Author(s):  
Xianwen Kong ◽  
Cle´ment M. Gosselin
Keyword(s):  
Screw Theory ◽  
General Procedure ◽  
Linear Equations ◽  
Kinematic Chain ◽  
Parallel Manipulators ◽  
Type Synthesis ◽  
Displacement Analysis ◽  
Kinematic Chains ◽  
Small Joint ◽  
Actuated Joints

A method is proposed for the type synthesis of 3-DOF (degree-of-freedom) translational parallel manipulators (TPMs) based on screw theory. The wrench systems of a translational parallel kinematic chain (TPKC) and its legs are first analyzed. A general procedure is then proposed for the type synthesis of TPMs. The type synthesis of legs for TPKCs, the type synthesis of TPKCs as well as the selection of actuated joints of TPMs are dealt with in sequence. An approach to derive the full-cycle mobility conditions for legs for TPKCs is proposed based on screw theory and the displacement analysis of serial kinematic chains undergoing small joint motions. In addition to the TPKCs proposed in the literature, TPKCs with inactive joints are synthesized. The phenomenon of dependent joint groups in a TPKC is revealed systematically. The validity condition of actuated joints of TPMs is also proposed. Finally, linear TPMs, which are TPMs whose forward displacement analysis can be performed by solving a set of linear equations, are also revealed.

Symmetry and invariants of kinematic chains and parallel manipulators

Robotica ◽  
2012 ◽  
Vol 31 (1) ◽  
pp. 61-70 ◽  
Author(s):  
Roberto Simoni ◽  
Celso Melchiades Doria ◽  
Daniel Martins
Keyword(s):  
Group Theory ◽  
Automorphism Group ◽  
Kinematic Analysis ◽  
Group Structure ◽  
Kinematic Chain ◽  
Parallel Manipulators ◽  
Formal Definition ◽  
Kinematic Chains ◽  
Number Synthesis ◽  
Definition Of

SUMMARYThis paper presents applications of group theory tools to simplify the analysis of kinematic chains associated with mechanisms and parallel manipulators. For the purpose of this analysis, a kinematic chain is described by its properties, i.e. degrees-of-control, connectivity and redundancy matrices. In number synthesis, kinematic chains are represented by graphs, and thus the symmetry of a kinematic chain is the same as the symmetry of its graph. We present a formal definition of symmetry in kinematic chains based on the automorphism group of its associated graph. The symmetry group of the graph is associated with the graph symmetry. By using the group structure induced by the symmetry of the kinematic chain, we prove that degrees-of-control, connectivity and redundancy are invariants by the action of the automorphism group of the graph. Consequently, it is shown that it is possible to reduce the size of these matrices and thus reduce the complexity of the kinematic analysis of mechanisms and parallel manipulators in early stages of mechanisms design.

Dexterous Workspace of N-PRRR Planar Parallel Manipulators

2010 ◽  
Author(s):  
Andre´ Gallant ◽  
Roger Boudreau ◽  
Marise Gallant
Keyword(s):  
Kinematic Chain ◽  
Parallel Manipulators ◽  
Divergence Theorem ◽  
Kinematic Chains ◽  
Planar Surfaces ◽  
Gauss Divergence Theorem ◽  
Planar Parallel Manipulators ◽  
Workspace Boundary

In this work, a method is presented to geometrically determine the dexterous workspace boundary of kinematically redundant n-PRRR planar parallel manipulators. The dexterous workspace of each non-redundant RRR kinematic chain is first determined using a four-bar mechanism analogy. The effect of the prismatic actuator is then considered to yield the workspace of each PRRR kinematic chain. The intersection of the dexterous workspaces of all the kinematic chains is then obtained to determine the dexterous workspace of the planar n-PRRR manipulator. The Gauss Divergence Theorem applied to planar surfaces is implemented to compute the total dexterous workspace area. Finally, two examples are shown to demonstrate applications of the method.

Analytical Procedure Based on the Matrix Structural Method for the Analysis of the Stiffness of the 2PRU–1PRS Parallel Manipulator

Robotica ◽  
2019 ◽  
Vol 37 (08) ◽  
pp. 1401-1414
Author(s):  
Saioa Herrero ◽  
Charles Pinto ◽  
Mikel Diez ◽  
Javier Corral
Keyword(s):  
Parallel Manipulator ◽  
Analytical Procedure ◽  
Parallel Manipulators ◽  
Shaking Table ◽  
Structural Method ◽  
Positioning Accuracy ◽  
Serial Manipulators ◽  
Kinematic Chains ◽  
Workspace Analysis ◽  
The Matrix

SummaryParallel manipulators, especially those with outputs as one translation and two rotations (1T2R), are being increasingly studied. The kinematic chains of parallel manipulators share the loads and make the stiffness higher than the stiffness of serial manipulators with equivalent limbs. This high stiffness ensures a minimal deformation of the limbs, allowing a high positioning accuracy of the endeffector. Thus, it is very important to be able to measure the stiffness in parallel manipulators. In this work, we present a novel 1T2R multi-axial shaking table (MAST) for automobile pieces testing purposes—the 2PRU–1PRS parallel manipulator—and focus on the analysis of its stiffness all over the useful workspace. Analysis methods based on matrix structural method need to be validated for every parallel manipulator, and we present these steps along with a comparison between experimental and analytical methods.

A geometrical formulation for the workspace of parallel manipulators

Robotica ◽  
2021 ◽  
pp. 1-11
Author(s):  
Matteo Russo ◽  
Marco Ceccarelli
Keyword(s):  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Kinematic Chain ◽  
Parallel Manipulators ◽  
Analytical Models ◽  
Kinematic Chains ◽  
Motion Constraints ◽  
Geometrical Formulation ◽  
Geometric Formulation ◽  
Algebraic Formulation

Abstract In study this paper, a geometric formulation is proposed to describe the workspace of parallel manipulators by using a recursive approach as an extension of volume generation for solids of revolution. In this approach, the workspace volume and boundary for each limb of the parallel manipulator is obtained with an algebraic formulation derived from the kinematic chain of the limb and the motion constraints on its joints. Then, the overall workspace of the mechanism can be determined as the intersection of the limb workspaces. The workspace of different kinematic chains is discussed and classified according to its external shape. An algebraic formulation for the inclusion of obstacles in the computation is also proposed. Both analytical models and numerical simulations are reported with their advantages and limitations. An example on a 3-SPR parallel mechanism illustrates the feasibility of the formulation and its efficiency.

scholarly journals Stability of Manipulator Configuration Under External Loading

2012 ◽  
Author(s):  
Alexandr Klimchik ◽  
Anatol Pashkevich ◽  
Damien Chablat
Keyword(s):  
Equilibrium Configuration ◽  
Kinematic Chain ◽  
Parallel Manipulators ◽  
Static Equilibrium ◽  
Practical Significance ◽  
External Loading ◽  
Kinematic Chains ◽  
Cartesian Stiffness Matrix ◽  
The Stability ◽  
Cartesian Stiffness

The paper is devoted to the analysis of robotic manipulator behavior under internal and external loadings. The main contributions are in the area of stability analysis of manipulator configurations corresponding to the loaded static equilibrium. In contrast to other works, in addition to usually studied the end-platform behavior with respect to the disturbance forces, the problem of configuration stability for each kinematic chain is considered. The proposed approach extends the classical notion of the stability for the static equilibrium configuration that is completely defined the properties of the Cartesian stiffness matrix only. The advantages and practical significance of the proposed approach are illustrated by several examples that deal with serial kinematic chains and parallel manipulators. It is shown that under the loading the manipulator workspace may include some specific points that are referred to as elastostatic singularities where the chain configurations become unstable.

A C0 three-node triangular element based on preprocessing approach for thick sandwich plates

2017 ◽  
Vol 21 (6) ◽  
pp. 1820-1842
Author(s):  
Wu Zhen ◽  
Ma Rui ◽  
Chen Wanji
Keyword(s):  
Transverse Shear ◽  
Equilibrium Equation ◽  
Three Dimensional ◽  
Higher Order ◽  
Triangular Element ◽  
Shear Stresses ◽  
Sandwich Plates ◽  
Transverse Shear Stress ◽  
Transverse Shear Stresses ◽  
Derivatives Of

This paper will try to overcome two difficulties encountered by the C0 three-node triangular element based on the displacement-based higher-order models. They are (i) transverse shear stresses computed from constitutive equations vanish at the clamped edges, and (ii) it is difficult to accurately produce the transverse shear stresses even using the integration of the three-dimensional equilibrium equation. Invalidation of the equilibrium equation approach ought to attribute to the higher-order derivations of displacement parameters involved in transverse shear stress components after integrating three-dimensional equilibrium equation. Thus, the higher-order derivatives of displacement parameters will be taken out from transverse shear stress field by using the three-field Hu–Washizu variational principle before the finite element procedure is implemented. Therefore, such method is named as the preprocessing method for transverse shear stresses in present work. Because the higher-order derivatives of displacement parameters have been eliminated, a C0 three-node triangular element based on the higher-order zig-zag theory can be presented by using the linear interpolation function. Performance of the proposed element is numerically evaluated by analyzing multilayered sandwich plates with different loading conditions, lamination sequences, material constants and boundary conditions, and it can be found that the present model works well in the finite element framework.

Expansions of the mildly relativistic dispersion function for nearly perpendicular electron cyclotron ray tracing

1999 ◽  
Vol 61 (1) ◽  
pp. 121-128 ◽  
Author(s):  
I. P. SHKAROFSKY
Keyword(s):  
Ray Tracing ◽  
Computer Programs ◽  
Higher Order ◽  
Electron Cyclotron ◽  
Dispersion Function ◽  
Relativistic Dispersion ◽  
Plasma Dispersion ◽  
Derivatives Of ◽  
Cyclotron Harmonic ◽  
Experienced Difficulty

To trace rays very close to the nth electron cyclotron harmonic, we need the mildly relativistic plasma dispersion function and its higher-order derivatives. Expressions for these functions have been obtained as an expansion for nearly perpendicular propagation in a region where computer programs have previously experienced difficulty in accuracy, namely when the magnitude of (c/vt)2 (ω−nωc)/ω is between 1 and 10. In this region, the large-argument expansions are not yet valid, but partial cancellations of terms occur. The expansion is expressed as a sum over derivatives of the ordinary dispersion function Z. New expressions are derived to relate higher-order derivatives of Z to Z itself in this region of concern in terms of a finite series.

Selecting Kinematic Structures of Parallel Manipulators Using Symmetry and Connectivity

2015 ◽  
Author(s):  
Roberto Simoni ◽  
Henrique Simas ◽  
Daniel Martins
Keyword(s):  
Conceptual Design ◽  
Kinematic Chain ◽  
Parallel Manipulators ◽  
Connectivity Matrix ◽  
Early Stages

This paper presents an application of symmetry and connectivity to select kinematic structures of parallel manipulators. One kinematic chain can originate several mechanisms and each mechanism can originate several parallel manipulators and, in early stages of conceptual design, it is difficult to decide what is the most promising one. Hunt [1] introduced the concept of connectivity and, since then, the connectivity has been used as an important parameter to select the most appropriated parallel manipulators to develop determined task. However, it is difficult to analyze non isomorphic parallel manipulators from the connectivity matrix. In this sense, in this paper, we apply symmetry to reduce the set of parallel manipulators to a manageable few with the desired connectivity. As a result, all promising parallel manipulators originating from a kinematic chain can be analyzed without isomorphisms.

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